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Press the Google Assistant key on the left side of the device.
or
Swipe diagonally from a bottom edge of the screen.
Tap GET STARTED.
Follow the on-screen instructions.

If you use the voice match unlock function, you can unlock the device even when the device screen is turned off or the device is charging by saying “OK Google” or “Hey Google.”.

NOTES

This feature may be more vulnerable to security than the other screen locks, such as Pattern, PIN, and Password.
When a similar voice or your recorded voice is used, the screen may be unlocked.
To use this feature, tap Home > Settings > Lock screen & security > Secure lock settings > Smart Lock, and then use the screen lock method you set to unlock the device. Tap Voice Match > Unlock with Voice Match, and tap ON/OFF, then enter the currently used unlock method again. Note that Swipe is excluded.
You need to unlock the device by using the specified method if you fail to unlock the device with voice recognition. See Setting a Screen Lock for details.